Ardupilot Rpanion 4GLTE 网络性能测试 - 国内中转
- 1. 源由
- 2. 视频效果
- 2.1 整体刷新率不高
- 2.2 网络延迟可接受
- 2.3 带宽增加丢包明显
- 2.4 实测效果流畅
- 3. 总结
1. 源由
上一次，由于ZeroTier使用了国外服务器，延迟~ 569 ms，花屏、卡顿。
本着不折腾到底，誓不罢休的精神，本次我们将ZeroTier切换到了国内中转服务器。
2. 视频效果
最终视频效果是王道！来我们看下效果。
Ardupilot Rpanion 4GLTE-4GLTE Domestic Routing Copter
2.1 整体刷新率不高
一般都能到59FPS，但是显示器今天不知道怎么只有30FPS，有的时候都不到。
刷新率越差，误差就越大。
2.2 网络延迟可接受
ping延迟不高，大约在[64ms, 306ms]，平均117ms。
ping -t 192.168.235.73Pinging 192.168.235.73 with 32 bytes of data:
Reply from 192.168.235.73: bytes=32 time=103ms TTL=64
Reply from 192.168.235.73: bytes=32 time=102ms TTL=64
Reply from 192.168.235.73: bytes=32 time=109ms TTL=64
Reply from 192.168.235.73: bytes=32 time=128ms TTL=64
Reply from 192.168.235.73: bytes=32 time=127ms TTL=64
Reply from 192.168.235.73: bytes=32 time=154ms TTL=64
Reply from 192.168.235.73: bytes=32 time=113ms TTL=64
Reply from 192.168.235.73: bytes=32 time=94ms TTL=64
Reply from 192.168.235.73: bytes=32 time=125ms TTL=64
Reply from 192.168.235.73: bytes=32 time=131ms TTL=64
Reply from 192.168.235.73: bytes=32 time=120ms TTL=64
Reply from 192.168.235.73: bytes=32 time=121ms TTL=64
Reply from 192.168.235.73: bytes=32 time=101ms TTL=64
Reply from 192.168.235.73: bytes=32 time=115ms TTL=64
Reply from 192.168.235.73: bytes=32 time=129ms TTL=64
Reply from 192.168.235.73: bytes=32 time=112ms TTL=64
Reply from 192.168.235.73: bytes=32 time=192ms TTL=64
Reply from 192.168.235.73: bytes=32 time=101ms TTL=64
Reply from 192.168.235.73: bytes=32 time=105ms TTL=64
Reply from 192.168.235.73: bytes=32 time=99ms TTL=64
Reply from 192.168.235.73: bytes=32 time=125ms TTL=64
Reply from 192.168.235.73: bytes=32 time=97ms TTL=64
Reply from 192.168.235.73: bytes=32 time=91ms TTL=64
Reply from 192.168.235.73: bytes=32 time=115ms TTL=64
Reply from 192.168.235.73: bytes=32 time=102ms TTL=64
Reply from 192.168.235.73: bytes=32 time=169ms TTL=64
Reply from 192.168.235.73: bytes=32 time=113ms TTL=64
Reply from 192.168.235.73: bytes=32 time=119ms TTL=64
Reply from 192.168.235.73: bytes=32 time=83ms TTL=64
Reply from 192.168.235.73: bytes=32 time=108ms TTL=64
Reply from 192.168.235.73: bytes=32 time=147ms TTL=64
Reply from 192.168.235.73: bytes=32 time=132ms TTL=64
Reply from 192.168.235.73: bytes=32 time=111ms TTL=64
Reply from 192.168.235.73: bytes=32 time=156ms TTL=64
Reply from 192.168.235.73: bytes=32 time=113ms TTL=64
Reply from 192.168.235.73: bytes=32 time=100ms TTL=64
Reply from 192.168.235.73: bytes=32 time=114ms TTL=64
Reply from 192.168.235.73: bytes=32 time=127ms TTL=64
Reply from 192.168.235.73: bytes=32 time=99ms TTL=64
Reply from 192.168.235.73: bytes=32 time=85ms TTL=64
Reply from 192.168.235.73: bytes=32 time=88ms TTL=64
Reply from 192.168.235.73: bytes=32 time=113ms TTL=64
Reply from 192.168.235.73: bytes=32 time=111ms TTL=64
Reply from 192.168.235.73: bytes=32 time=106ms TTL=64
Reply from 192.168.235.73: bytes=32 time=116ms TTL=64
Reply from 192.168.235.73: bytes=32 time=117ms TTL=64
Reply from 192.168.235.73: bytes=32 time=104ms TTL=64
Reply from 192.168.235.73: bytes=32 time=105ms TTL=64
Reply from 192.168.235.73: bytes=32 time=99ms TTL=64
Reply from 192.168.235.73: bytes=32 time=101ms TTL=64
Reply from 192.168.235.73: bytes=32 time=111ms TTL=64
Reply from 192.168.235.73: bytes=32 time=86ms TTL=64
Reply from 192.168.235.73: bytes=32 time=144ms TTL=64
Reply from 192.168.235.73: bytes=32 time=81ms TTL=64
Reply from 192.168.235.73: bytes=32 time=79ms TTL=64
Reply from 192.168.235.73: bytes=32 time=94ms TTL=64
Reply from 192.168.235.73: bytes=32 time=132ms TTL=64
Reply from 192.168.235.73: bytes=32 time=92ms TTL=64
Reply from 192.168.235.73: bytes=32 time=96ms TTL=64
Reply from 192.168.235.73: bytes=32 time=121ms TTL=64
Reply from 192.168.235.73: bytes=32 time=133ms TTL=64
Reply from 192.168.235.73: bytes=32 time=127ms TTL=64
Reply from 192.168.235.73: bytes=32 time=97ms TTL=64
Reply from 192.168.235.73: bytes=32 time=127ms TTL=64
Reply from 192.168.235.73: bytes=32 time=135ms TTL=64
Reply from 192.168.235.73: bytes=32 time=96ms TTL=64
Reply from 192.168.235.73: bytes=32 time=120ms TTL=64
Reply from 192.168.235.73: bytes=32 time=101ms TTL=64
Reply from 192.168.235.73: bytes=32 time=135ms TTL=64
Reply from 192.168.235.73: bytes=32 time=144ms TTL=64
Reply from 192.168.235.73: bytes=32 time=107ms TTL=64
Reply from 192.168.235.73: bytes=32 time=112ms TTL=64
Reply from 192.168.235.73: bytes=32 time=139ms TTL=64
Reply from 192.168.235.73: bytes=32 time=81ms TTL=64
Reply from 192.168.235.73: bytes=32 time=125ms TTL=64
Reply from 192.168.235.73: bytes=32 time=116ms TTL=64
Reply from 192.168.235.73: bytes=32 time=125ms TTL=64
Reply from 192.168.235.73: bytes=32 time=162ms TTL=64
Reply from 192.168.235.73: bytes=32 time=119ms TTL=64
Reply from 192.168.235.73: bytes=32 time=120ms TTL=64
Reply from 192.168.235.73: bytes=32 time=306ms TTL=64
Reply from 192.168.235.73: bytes=32 time=143ms TTL=64
Reply from 192.168.235.73: bytes=32 time=80ms TTL=64
Reply from 192.168.235.73: bytes=32 time=94ms TTL=64
Reply from 192.168.235.73: bytes=32 time=91ms TTL=64
Reply from 192.168.235.73: bytes=32 time=156ms TTL=64
Reply from 192.168.235.73: bytes=32 time=114ms TTL=64
Reply from 192.168.235.73: bytes=32 time=125ms TTL=64
Reply from 192.168.235.73: bytes=32 time=129ms TTL=64
Reply from 192.168.235.73: bytes=32 time=184ms TTL=64
Reply from 192.168.235.73: bytes=32 time=110ms TTL=64
Reply from 192.168.235.73: bytes=32 time=135ms TTL=64
Reply from 192.168.235.73: bytes=32 time=144ms TTL=64
Reply from 192.168.235.73: bytes=32 time=141ms TTL=64
Reply from 192.168.235.73: bytes=32 time=79ms TTL=64
Reply from 192.168.235.73: bytes=32 time=78ms TTL=64
Reply from 192.168.235.73: bytes=32 time=125ms TTL=64
Reply from 192.168.235.73: bytes=32 time=128ms TTL=64
Reply from 192.168.235.73: bytes=32 time=206ms TTL=64
Reply from 192.168.235.73: bytes=32 time=129ms TTL=64
Reply from 192.168.235.73: bytes=32 time=126ms TTL=64
Reply from 192.168.235.73: bytes=32 time=154ms TTL=64
Reply from 192.168.235.73: bytes=32 time=125ms TTL=64
Reply from 192.168.235.73: bytes=32 time=94ms TTL=64
Reply from 192.168.235.73: bytes=32 time=125ms TTL=64
Reply from 192.168.235.73: bytes=32 time=90ms TTL=64
Reply from 192.168.235.73: bytes=32 time=129ms TTL=64
Reply from 192.168.235.73: bytes=32 time=111ms TTL=64
Reply from 192.168.235.73: bytes=32 time=113ms TTL=64
Reply from 192.168.235.73: bytes=32 time=106ms TTL=64
Reply from 192.168.235.73: bytes=32 time=94ms TTL=64
Reply from 192.168.235.73: bytes=32 time=92ms TTL=64
Reply from 192.168.235.73: bytes=32 time=96ms TTL=64
Reply from 192.168.235.73: bytes=32 time=114ms TTL=64
Reply from 192.168.235.73: bytes=32 time=122ms TTL=64
Reply from 192.168.235.73: bytes=32 time=93ms TTL=64
Reply from 192.168.235.73: bytes=32 time=165ms TTL=64
Reply from 192.168.235.73: bytes=32 time=135ms TTL=64
Reply from 192.168.235.73: bytes=32 time=185ms TTL=64
Reply from 192.168.235.73: bytes=32 time=124ms TTL=64
Reply from 192.168.235.73: bytes=32 time=64ms TTL=64
Reply from 192.168.235.73: bytes=32 time=89ms TTL=64
Reply from 192.168.235.73: bytes=32 time=84ms TTL=64
Reply from 192.168.235.73: bytes=32 time=90ms TTL=64
Reply from 192.168.235.73: bytes=32 time=112ms TTL=64
Reply from 192.168.235.73: bytes=32 time=92ms TTL=64
Reply from 192.168.235.73: bytes=32 time=90ms TTL=64
Reply from 192.168.235.73: bytes=32 time=78ms TTL=64
Reply from 192.168.235.73: bytes=32 time=129ms TTL=64Ping statistics for 192.168.235.73:Packets: Sent = 129, Received = 129, Lost = 0 (0% loss),
Approximate round trip times in milli-seconds:Minimum = 64ms, Maximum = 306ms, Average = 117ms
Control-C
2.3 带宽增加丢包明显
iperf情况很诡异：相较于《Ardupilot Rpanion iperf网络性能测试》情况更差，但是实际效果不错。
$ iperf -b 300pps -u -e -i 1 -l 1400 -c 192.168.235.63
------------------------------------------------------------
Client connecting to 192.168.235.63, UDP port 5001 with pid 2627 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size: 208 KByte (default)
------------------------------------------------------------
[ 3] local 192.168.235.73%ztjjfduqpe port 47594 connected with 192.168.235.63 port 5001
[ ID] Interval Transfer Bandwidth Write/Err PPS
[ 3] 0.0000-1.0000 sec 410 KBytes 3.36 Mbits/sec 301/0 302 pps
[ 3] 1.0000-2.0000 sec 410 KBytes 3.36 Mbits/sec 300/0 300 pps
[ 3] 2.0000-3.0000 sec 410 KBytes 3.36 Mbits/sec 300/0 300 pps
[ 3] 3.0000-4.0000 sec 410 KBytes 3.36 Mbits/sec 300/0 300 pps
[ 3] 4.0000-5.0000 sec 410 KBytes 3.36 Mbits/sec 300/0 300 pps
[ 3] 5.0000-6.0000 sec 410 KBytes 3.36 Mbits/sec 300/0 300 pps
[ 3] 6.0000-7.0000 sec 410 KBytes 3.36 Mbits/sec 300/0 300 pps
[ 3] 7.0000-8.0000 sec 410 KBytes 3.36 Mbits/sec 300/0 300 pps
[ 3] 8.0000-9.0000 sec 410 KBytes 3.36 Mbits/sec 300/0 300 pps
[ 3] 9.0000-10.0000 sec 410 KBytes 3.36 Mbits/sec 300/0 300 pps
[ 3] 0.0000-10.0069 sec 4.01 MBytes 3.36 Mbits/sec 3005/0 300 pps
[ 3] Sent 3005 datagrams
[ 3] Server Report:
[ ID] Interval Transfer Bandwidth Jitter Lost/Total Datagrams
[ 3] 0.0000-10.0125 sec 4.01 MBytes 3.36 Mbits/sec 5.955 ms 0/ 3004 (0%)$ iperf -b 350pps -u -e -i 1 -l 1400 -c 192.168.235.63
------------------------------------------------------------
Client connecting to 192.168.235.63, UDP port 5001 with pid 2690 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size: 208 KByte (default)
------------------------------------------------------------
[ 3] local 192.168.235.73%ztjjfduqpe port 43876 connected with 192.168.235.63 port 5001
[ ID] Interval Transfer Bandwidth Write/Err PPS
[ 3] 0.0000-1.0000 sec 479 KBytes 3.92 Mbits/sec 351/0 352 pps
[ 3] 1.0000-2.0000 sec 479 KBytes 3.92 Mbits/sec 350/0 350 pps
[ 3] 2.0000-3.0000 sec 479 KBytes 3.92 Mbits/sec 350/0 350 pps
[ 3] 3.0000-4.0000 sec 479 KBytes 3.92 Mbits/sec 350/0 350 pps
[ 3] 4.0000-5.0000 sec 479 KBytes 3.92 Mbits/sec 350/0 350 pps
[ 3] 5.0000-6.0000 sec 479 KBytes 3.92 Mbits/sec 350/0 350 pps
[ 3] 6.0000-7.0000 sec 479 KBytes 3.92 Mbits/sec 350/0 350 pps
[ 3] 7.0000-8.0000 sec 479 KBytes 3.92 Mbits/sec 350/0 350 pps
[ 3] 8.0000-9.0000 sec 479 KBytes 3.92 Mbits/sec 350/0 350 pps
[ 3] 9.0000-10.0000 sec 479 KBytes 3.92 Mbits/sec 350/0 350 pps
[ 3] 0.0000-10.0059 sec 4.68 MBytes 3.92 Mbits/sec 3505/0 350 pps
[ 3] Sent 3505 datagrams
[ 3] Server Report:
[ ID] Interval Transfer Bandwidth Jitter Lost/Total Datagrams
[ 3] 0.0000-10.0302 sec 4.68 MBytes 3.91 Mbits/sec 5.143 ms 0/ 3504 (0%)$ iperf -b 400pps -u -e -i 1 -l 1400 -c 192.168.235.63
------------------------------------------------------------
Client connecting to 192.168.235.63, UDP port 5001 with pid 2697 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size: 208 KByte (default)
------------------------------------------------------------
[ 3] local 192.168.235.73%ztjjfduqpe port 33690 connected with 192.168.235.63 port 5001
[ ID] Interval Transfer Bandwidth Write/Err PPS
[ 3] 0.0000-1.0000 sec 547 KBytes 4.48 Mbits/sec 401/0 402 pps
[ 3] 1.0000-2.0000 sec 547 KBytes 4.48 Mbits/sec 400/0 400 pps
[ 3] 2.0000-3.0000 sec 547 KBytes 4.48 Mbits/sec 400/0 400 pps
[ 3] 3.0000-4.0000 sec 547 KBytes 4.48 Mbits/sec 400/0 400 pps
[ 3] 4.0000-5.0000 sec 547 KBytes 4.48 Mbits/sec 400/0 400 pps
[ 3] 5.0000-6.0000 sec 547 KBytes 4.48 Mbits/sec 400/0 400 pps
[ 3] 6.0000-7.0000 sec 547 KBytes 4.48 Mbits/sec 400/0 400 pps
[ 3] 7.0000-8.0000 sec 547 KBytes 4.48 Mbits/sec 400/0 400 pps
[ 3] 8.0000-9.0000 sec 547 KBytes 4.48 Mbits/sec 400/0 400 pps
[ 3] 9.0000-10.0000 sec 547 KBytes 4.48 Mbits/sec 400/0 400 pps
[ 3] 0.0000-10.0028 sec 5.34 MBytes 4.48 Mbits/sec 4004/0 400 pps
[ 3] Sent 4004 datagrams
[ 3] Server Report:
[ ID] Interval Transfer Bandwidth Jitter Lost/Total Datagrams
[ 3] 0.0000-10.0392 sec 5.34 MBytes 4.46 Mbits/sec 4.412 ms 0/ 4003 (0%)$ iperf -b 500pps -u -e -i 1 -l 1400 -c 192.168.235.63
------------------------------------------------------------
Client connecting to 192.168.235.63, UDP port 5001 with pid 2709 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size: 208 KByte (default)
------------------------------------------------------------
[ 3] local 192.168.235.73%ztjjfduqpe port 44078 connected with 192.168.235.63 port 5001
[ ID] Interval Transfer Bandwidth Write/Err PPS
[ 3] 0.0000-1.0000 sec 684 KBytes 5.60 Mbits/sec 501/0 502 pps
[ 3] 1.0000-2.0000 sec 684 KBytes 5.60 Mbits/sec 500/0 500 pps
[ 3] 2.0000-3.0000 sec 684 KBytes 5.60 Mbits/sec 500/0 500 pps
[ 3] 3.0000-4.0000 sec 684 KBytes 5.60 Mbits/sec 500/0 500 pps
[ 3] 4.0000-5.0000 sec 684 KBytes 5.60 Mbits/sec 500/0 500 pps
[ 3] 5.0000-6.0000 sec 684 KBytes 5.60 Mbits/sec 500/0 500 pps
[ 3] 6.0000-7.0000 sec 684 KBytes 5.60 Mbits/sec 500/0 500 pps
[ 3] 7.0000-8.0000 sec 684 KBytes 5.60 Mbits/sec 500/0 500 pps
[ 3] 8.0000-9.0000 sec 684 KBytes 5.60 Mbits/sec 500/0 500 pps
[ 3] 9.0000-10.0000 sec 684 KBytes 5.60 Mbits/sec 500/0 500 pps
[ 3] 0.0000-10.0042 sec 6.68 MBytes 5.60 Mbits/sec 5005/0 500 pps
[ 3] Sent 5005 datagrams
[ 3] Server Report:
[ ID] Interval Transfer Bandwidth Jitter Lost/Total Datagrams
[ 3] 0.0000-10.1477 sec 5.67 MBytes 4.69 Mbits/sec 11.400 ms 756/ 5005 (15%)$ iperf -b 550pps -u -e -i 1 -l 1400 -c 192.168.235.63
------------------------------------------------------------
Client connecting to 192.168.235.63, UDP port 5001 with pid 2716 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size: 208 KByte (default)
------------------------------------------------------------
[ 3] local 192.168.235.73%ztjjfduqpe port 49192 connected with 192.168.235.63 port 5001
[ ID] Interval Transfer Bandwidth Write/Err PPS
[ 3] 0.0000-1.0000 sec 752 KBytes 6.16 Mbits/sec 551/0 552 pps
[ 3] 1.0000-2.0000 sec 752 KBytes 6.16 Mbits/sec 550/0 550 pps
[ 3] 2.0000-3.0000 sec 752 KBytes 6.16 Mbits/sec 550/0 550 pps
[ 3] 3.0000-4.0000 sec 752 KBytes 6.16 Mbits/sec 550/0 550 pps
[ 3] 4.0000-5.0000 sec 752 KBytes 6.16 Mbits/sec 550/0 550 pps
[ 3] 5.0000-6.0000 sec 752 KBytes 6.16 Mbits/sec 550/0 550 pps
[ 3] 6.0000-7.0000 sec 752 KBytes 6.16 Mbits/sec 550/0 550 pps
[ 3] 7.0000-8.0000 sec 752 KBytes 6.16 Mbits/sec 550/0 550 pps
[ 3] 8.0000-9.0000 sec 752 KBytes 6.16 Mbits/sec 550/0 550 pps
[ 3] 9.0000-10.0000 sec 752 KBytes 6.16 Mbits/sec 550/0 550 pps
[ 3] 0.0000-10.0040 sec 7.35 MBytes 6.16 Mbits/sec 5505/0 550 pps
[ 3] Sent 5505 datagrams
[ 3] Server Report:
[ ID] Interval Transfer Bandwidth Jitter Lost/Total Datagrams
[ 3] 0.0000-9.9913 sec 5.62 MBytes 4.72 Mbits/sec 3.449 ms 1293/ 5504 (23%)$ iperf -b 600pps -u -e -i 1 -l 1400 -c 192.168.235.63
------------------------------------------------------------
Client connecting to 192.168.235.63, UDP port 5001 with pid 2724 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size: 208 KByte (default)
------------------------------------------------------------
[ 3] local 192.168.235.73%ztjjfduqpe port 49983 connected with 192.168.235.63 port 5001
[ ID] Interval Transfer Bandwidth Write/Err PPS
[ 3] 0.0000-1.0000 sec 820 KBytes 6.72 Mbits/sec 601/0 602 pps
[ 3] 1.0000-2.0000 sec 820 KBytes 6.72 Mbits/sec 600/0 600 pps
[ 3] 2.0000-3.0000 sec 820 KBytes 6.72 Mbits/sec 600/0 600 pps
[ 3] 3.0000-4.0000 sec 820 KBytes 6.72 Mbits/sec 600/0 600 pps
[ 3] 4.0000-5.0000 sec 820 KBytes 6.72 Mbits/sec 600/0 600 pps
[ 3] 5.0000-6.0000 sec 820 KBytes 6.72 Mbits/sec 600/0 600 pps
[ 3] 6.0000-7.0000 sec 820 KBytes 6.72 Mbits/sec 600/0 600 pps
[ 3] 7.0000-8.0000 sec 820 KBytes 6.72 Mbits/sec 600/0 600 pps
[ 3] 8.0000-9.0000 sec 820 KBytes 6.72 Mbits/sec 600/0 600 pps
[ 3] 9.0000-10.0000 sec 820 KBytes 6.72 Mbits/sec 600/0 600 pps
[ 3] 0.0000-10.0035 sec 8.01 MBytes 6.72 Mbits/sec 6005/0 600 pps
[ 3] Sent 6005 datagrams
[ 3] Server Report:
[ ID] Interval Transfer Bandwidth Jitter Lost/Total Datagrams
[ 3] 0.0000-9.9823 sec 5.55 MBytes 4.66 Mbits/sec 3.217 ms 1847/ 6004 (31%)
2.4 实测效果流畅
实测~ 251 ms 时延； 平均延时117/2 = 58.5 ms, 251 - 58.5 = 192.5 ms左右
3. 总结
综合上面的情况，整体分析：
- 上述网络配置情况，视频基本流畅，无雪花，卡顿，性能基本OK，可进行外场测试
- 计算机刷屏FPS未能稳定维持在59FPS，待查测试环境
- 部分截图发现，延迟甚至有1s之久，可能与刷屏或者最差网络环境有关
- 实测时需要关注不稳定的4GLTE网络，以及最差情况是否出现卡顿或者延迟问题
好了，小伙伴们，等我外场测试的好消息！ ：）
